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#include <memory>
#include <string>
#include <vector>

#include "rviz_visual_testing_framework/visual_test_fixture.hpp"
#include "rviz_visual_testing_framework/visual_test_publisher.hpp"

#include "../../page_objects/map_display_page_object.hpp"
#include "../../page_objects/marker_display_page_object.hpp"
#include "../../publishers/map_publisher.hpp"
#include "../../publishers/single_marker_publisher.hpp"

TEST_F(VisualTestFixture, test_map_display_with_large_map) {
  auto publishers = std::vector<PublisherWithFrame>();
  publishers.emplace_back(PublisherWithFrame(std::make_shared<nodes::MapPublisher>(), "map_frame"));
  publishers.emplace_back(
    PublisherWithFrame(
      std::make_shared<nodes::SingleMarkerPublisher>(), "marker_frame"));
  auto map_publisher = std::make_unique<VisualTestPublisher>(publishers);

  setCamPose(Ogre::Vector3(0, 0, 200));
  setCamLookAt(Ogre::Vector3(0, 0, 0));

  auto marker_display = addDisplay<MarkerDisplayPageObject>();
  marker_display->setTopic("/marker");

  auto map_display = addDisplay<MapDisplayPageObject>();
  map_display->setTopic("/map");
  map_display->setAlpha(1);

  captureMainWindow("map_display_default_color_scheme");

  map_display->setColorScheme("raw");

  captureMainWindow("map_display_map_color_scheme");

  map_display->setColorScheme("costmap");

  captureMainWindow("map_display_costmap_scheme");

  map_display->drawUnder(true);

  captureMainWindow("map_display_rendered_below_other_objects");

  assertScreenShotsIdentity();
}
